Off-Road Surface Roughness Index for Adaptive Ground Speed
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Solution Overview
Problem
Off-road vehicles face challenges in maintaining accurate path tracking due to ground surface irregularities, leading to operator fatigue and uneven application of crop inputs, as existing automatic guidance systems are ineffective in handling natural or artificial terrain variations.
Innovation Solution
A system that estimates surface roughness by using motion data, pitch, and roll sensors to determine a surface roughness index, which is then used to adjust the ground speed of the vehicle, allowing for real-time adjustments to maintain optimal path alignment and input application.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If automatic guidance system is used to guide vehicle to track path plan, then path tracking capability is improved, but ground surface irregularities still cause unwanted deviations in heading or yaw
Solution Approach 1:
The system uses sensors to detect vehicle motion data, pitch, and roll in real-time, feeds this information to the processor, and adjusts ground speed based on the calculated surface roughness index, creating a closed-loop feedback system that compensates for terrain-induced deviations
Solution Approach 2:
The system dynamically changes the ground speed parameter based on detected surface roughness conditions, adjusting velocity to maintain optimal path tracking when encountering irregularities while restoring normal speed when terrain is smooth
2Productivity
If ground speed is increased to improve productivity, then work efficiency is improved, but path tracking accuracy deteriorates due to increased sensitivity to surface irregularities
Solution Approach 1:
The system makes ground speed dynamic rather than fixed, continuously adjusting velocity based on real-time surface roughness detection, allowing high speed on smooth terrain and reduced speed on irregular surfaces to maintain both productivity and tracking accuracy
Solution Approach 2:
Real-time sensor feedback on vehicle attitude and motion enables the system to detect when surface irregularities are affecting tracking accuracy and automatically adjust ground speed to compensate, maintaining precision across varying productivity requirements
3Measurement precision
If multiple sensors are added to detect surface roughness, then measurement capability is improved, but device complexity increases
Solution Approach 1:
The system uses the vehicle's own existing motion sensors (accelerometers, gyroscopes) and operational data to measure surface roughness, rather than adding external specialized sensors, allowing the vehicle to self-diagnose terrain conditions using data it already collects during normal operation
Data Source
AI summary
A method and system for estimating surface roughness of a ground for an off-road vehicle to control ground speed comprises detecting motion data of an off-road vehicle traversing a field or work site during a sampling interval. A pitch sensor is adapted to detect pitch data of the off-road vehicle for the sampling interval to obtain a pitch acceleration. A roll sensor is adapted to detect roll data of the off-road vehicle for the sampling interval to obtain a roll acceleration. An electronic data processor or surface roughness index module determines or estimates a surface roughness index based on the detected motion data, pitch data and roll data for the sampling interval. The surface roughness index can be displayed on the graphical display to a user or operator of the vehicle, or applied to control or execute a ground speed setting of the vehicle.